msg_gimbal_erase_firmware_and_config_test.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */
         
// MESSAGE GIMBAL_ERASE_FIRMWARE_AND_CONFIG PACKING
package com.MAVLink.ardupilotmega;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Parser;
import com.MAVLink.ardupilotmega.CRC;
import java.nio.ByteBuffer;
import org.junit.Test;

import static org.junit.Assert.assertArrayEquals;

/**
* 
            Commands the gimbal to erase its firmware image and flash configuration, leaving only the bootloader.  The gimbal will then reboot into the bootloader,
            ready for the load of a new application firmware image.  Erasing the flash configuration will cause the gimbal to re-perform axis calibration when a
            new firmware image is loaded, and will cause all tuning parameters to return to their factory defaults.  WARNING: sending this command will render a
            gimbal inoperable until a new firmware image is loaded onto it.  For this reason, a particular "knock" value must be sent for the command to take effect.
            Use this command at your own risk
        
*/
public class msg_gimbal_erase_firmware_and_config_test{

public static final int MAVLINK_MSG_ID_GIMBAL_ERASE_FIRMWARE_AND_CONFIG = 208;
public static final int MAVLINK_MSG_LENGTH = 6;
private static final long serialVersionUID = MAVLINK_MSG_ID_GIMBAL_ERASE_FIRMWARE_AND_CONFIG;

private Parser parser = new Parser();

public CRC generateCRC(byte[] packet){
    CRC crc = new CRC();
    for (int i = 1; i < packet.length - 2; i++) {
        crc.update_checksum(packet[i] & 0xFF);
    }
    crc.finish_checksum(MAVLINK_MSG_ID_GIMBAL_ERASE_FIRMWARE_AND_CONFIG);
    return crc;
}

public byte[] generateTestPacket(){
    ByteBuffer payload = ByteBuffer.allocate(6 + MAVLINK_MSG_LENGTH + 2);
    payload.put((byte)MAVLinkPacket.MAVLINK_STX); //stx
    payload.put((byte)MAVLINK_MSG_LENGTH); //len
    payload.put((byte)0); //seq
    payload.put((byte)255); //sysid
    payload.put((byte)190); //comp id
    payload.put((byte)MAVLINK_MSG_ID_GIMBAL_ERASE_FIRMWARE_AND_CONFIG); //msg id
    payload.putInt((int)963497464); //knock
    payload.put((byte)17); //target_system
    payload.put((byte)84); //target_component
    
    CRC crc = generateCRC(payload.array());
    payload.put((byte)crc.getLSB());
    payload.put((byte)crc.getMSB());
    return payload.array();
}

@Test
public void test(){
    byte[] packet = generateTestPacket();
    for(int i = 0; i < packet.length - 1; i++){
        parser.mavlink_parse_char(packet[i] & 0xFF);
    }
    MAVLinkPacket m = parser.mavlink_parse_char(packet[packet.length - 1] & 0xFF);
    byte[] processedPacket = m.encodePacket();
    assertArrayEquals("msg_gimbal_erase_firmware_and_config", processedPacket, packet);
}
}